Inter-Robot Range Measurements in Pose Graph Optimization
Elizabeth R. Boroson,Robert Hewitt,Nora Ayanian,Jean-Pierre de la Croix,Elizabeth R. Boroson,Robert Hewitt,Nora Ayanian,Jean-Pierre de la Croix
For multiple robots performing exploration in a previously unmapped environment, such as planetary exploration, maintaining accurate localization and building a consistent map are vital. If the robots do not have a map to localize against and do not explore the same area, they may not be able to find visual loop closures to constrain their relative poses, making traditional SLAM impossible. This p...
